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<h1>Regular API function</h1>
<h3 class=subsectionBar><a name="simRMLMoveToJointPositions" id="simRMLMoveToJointPositions"></a>simRMLMoveToJointPositions / sim.rmlMoveToJointPositions 
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Description 
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<td class=apiTableRightDescr>DEPRECATED. See <a href="simMoveToConfig.htm">sim.moveToConfig</a> instead.</td>
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C synopsis
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<td class=apiTableRightCSyn><div></div></td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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C return value
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<div></div>
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Lua synopsis
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<td class=apiTableRightLSyn>int result,table[] newPos,table[] newVel,table[] newAccel,float timeLeft=sim.rmlMoveToJointPositions(table[] jointHandles,int flags,table[] currentVel,table[] currentAccel,table[] maxVel,table[] maxAccel,table[] maxJerk,table[] targetPos,table[] targetVel,table[] direction)</td> 
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<td class=apiTableLeftLParam>Lua parameters</td> 
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<div><strong>jointHandles</strong>: handles of the joints to actuate</div>
<div><strong>flags</strong>: <a href="../apiConstants.htm#RMLFunctions">RML flags</a>. -1 for default flags.</div>
<div><strong>currentVel</strong>: the current velocity of the joints. Can be nil in which case a velocity vector of 0 is used.</div>
<div><strong>currentAccel</strong>: the current acceleration of the joints. Can be nil in which case an acceleration vector of 0 is used.</div>
<div><strong>maxVel</strong>: the maximum allowed velocity  of the joints</div>
<div><strong>maxAccel</strong>: the maximum allowed acceleration  of the joints</div>
<div><strong>maxJerk</strong>: the maximum allowed jerk  of the joints. With the RML type II plugin, the max. jerk will however always be infinite.</div>
<div><strong>targetPos</strong>: the desired target positions of the joints</div>
<div><strong>targetVel</strong>: the desired velocity of the joints at the target. Can be nil in which case a velocity vector of 0 is used.</div>
<div><strong>direction</strong>: the desired rotation direction for cyclic revolute joints: 0 for the shortest distance, -x for a movement towards negative values, +x for a movement towards positive values (n=(x-1) represents the number of additional turns). Can be nil or omitted, in which case a value of 0 is used for all joints.</div>
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Lua return values
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<div><strong>result</strong>: 1 if the function call was successful</div>
<div><strong>newPos</strong>: the new positions of the joints</div>
<div><strong>newVel</strong>: the new velocities of the joints</div>
<div><strong>newAccel</strong>: the new accelerations of the joints</div>
<div><strong>timeLeft</strong>: the time left for additional calculations in current simulation time step</div>
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